Self-Aligning Tool Guide

ABSTRACT

A self-aligning tool guide has a holder for securing a portable power tool for working on a ceiling, a lifting mechanism, and a self-balancing chassis. The holder is mounted on the lifting mechanism. The lifting mechanism has a propulsion system for raising the holder parallel to a lifting axis. The self-balancing chassis has two wheels on a wheel axis, a drive coupled to the two wheels, and a steering system. A contact sensor serves for detecting an indirect contact of the holder with the ceiling. The chassis has a brake. A controller has a mode in which the brake is activated and the balancing of the self-balancing chassis is deactivated.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the priority of International Application No.PCT/EP2018/079806, filed Oct. 31, 2018, and European Patent Document No.17203223.7, filed Nov. 23, 2017, the disclosures of which are expresslyincorporated by reference herein

BACKGROUND AND SUMMARY OF THE INVENTION

The invention relates to a self-aligning tool guide and to a controlmethod for the tool guide.

Suspended ceilings are a design element frequently encountered in largebuildings, in particular in industrial and office buildings. Technicalinstallations, for example electrical installations, ventilationsystems, lighting and soundproofing can be laid between the ceiling ofthe shell and the suspended ceiling and are accessible for subsequentinspection and maintenance. Supporting substructures of theinstallations and of the suspended ceiling are fastened with dowels,screws or similar elements anchored in the ceiling of the shell. Inorder to construct the suspended ceiling, holes into which the dowels orthe screws can be screwed are drilled into the ceiling of the shell. Alateral position of the holes is predetermined by the supportingsubstructure.

The drilling of the holes is time-consuming. The user can reach the highhanging ceiling of the shell only with a ladder or a scaffold. Theladder has to be placed below the specified position, the user climbs upthe ladder, drills the hole, climbs down the ladder and moves the ladderto the next position.

DE 33 28 582 A1 describes a mobile ceiling drilling and assemblyappliance for mounting impact dowels in a room ceiling. The ceilingdrilling appliance is based on an impact drill which is mounted on atelescopic pillar. The telescopic pillar is suspended in an oscillatingmanner on a trolley. The user can move the ceiling drilling appliancebelow a desired location, can set the impact drill with respect to theroom ceiling by means of the pillar and can drill a hole into theceiling. The impact drill can be controlled via a switch panel. Fortransport via staircases, the appliance has to be dismantled into fourparts—trolley, telescopic pillar, impact drill and switch panel.

A refinement of the invention relates to a self-aligning tool guide. Thetool guide has a holder, a lifting mechanism and a chassis. The holderis for securing a portable power tool. The holder is mounted on thelifting mechanism. The lifting mechanism has a propulsion system forvertically raising the holder. The chassis has two wheels on a wheelaxis, a drive coupled to the wheels and a steering system. The liftingmechanism is mounted rigidly on the chassis. A center of gravity sensoris configured for detecting a lateral deflection of the center ofgravity of the lifting mechanism in relation to the wheel axis. Thesteering system is configured in order to activate the drive to output atorque counteracting the deflection.

The self-aligning tool guide permits a very compact and lightweightconstruction by being able to reduce the number of assemblies. Thedynamic stabilization permits a stable standing position of the toolguide just on one wheel or on two wheels.

The axis of the tool is aligned in a defined manner by means of thedrive controller and the wheels. During a deflection of the tool fromthe specified direction, the wheels actively exert a counter torquewhich correctly aligns the tool again. This is necessary in particularwhen placing the tool on the ceiling. Both floor and ceiling of a shellare undulating and are inclined in relation to the horizontal, andtherefore transverse forces act on the tool. A freely oscillating toolwould avoid the transverse forces by being deflected and would thereforelead to an erroneous alignment of the tool.

A refinement of the invention includes a holder for securing a portablepower tool, a lifting mechanism and a self-balancing chassis. A holderis mounted on the lifting mechanism and can be raised and can be loweredparallel to a lifting axis with a propulsion system of the liftingmechanism. The self-balancing chassis has two wheels on a wheel axis anda drive coupled to the wheels. The lifting mechanism is mounted rigidlyon the chassis. An inclination sensor detects an inclination of a wheelaxis of the chassis in relation to a horizontal plane. A steering systemhas a mode S9 in which the steering system rotates the chassis about avertical axis by means of the drive until the inclination is equal tozero. In addition, the tool guide has a center of gravity sensor fordetecting a lateral deflection x of the center of gravity G in relationto the wheel axis. The steering system is configured to output a torquecounteracting the deflection.

For the tool guide standing only on two wheels, there is always aposition in which the wheel axis can be aligned parallel to thehorizontal, solely by rotation about the vertical axis. In a system withthree or more wheels, the lifting mechanism has to be mounted pivotablyin relation to the wheel axes.

A refinement of the self-aligning tool guide according to the inventionhas a holder for securing a portable power tool for working on aceiling, a lifting mechanism and a self-balancing chassis. The holder ismounted on the lifting mechanism. The lifting mechanism has a propulsionsystem for raising the holder parallel to a lifting axis. Theself-balancing chassis has two wheels on a wheel axis, a drive coupledto the wheels and a steering system. A sensor serves for detecting acontact pressure of the holder, said contact pressure acting in thedirection of gravitational force. The control station activates thepropulsion system depending on the detected contact pressure.

A refinement of the self-aligning tool guide according to the inventionhas a holder for securing a portable power tool for working on aceiling, a lifting mechanism and a self-balancing chassis. The holder ismounted on the lifting mechanism. The lifting mechanism has a propulsionsystem for raising the holder parallel to a lifting axis. Theself-balancing chassis has two wheels on a wheel axis, a drive coupledto the wheels and a. steering system. A contact sensor serves fordetecting an indirect contact of the holder with the ceiling. Thechassis has a brake. The controller has a mode S9 in which the brake isactivated and the balancing of the self-balancing chassis isdeactivated.

The tool guide generally touches the floor only with the two wheels. Anupright standing position is ensured only by balancing the chassis.During work on the ceiling, a third contact point arises which may besufficient for an upright standing position without balancing. Thestatic standing position without balancing may be advantageous duringthe work. The brake supports the stability.

A refinement of the self-aligning tool guide according to the inventionhas a holder for securing a portable power tool, a lifting mechanism anda self-balancing chassis. The holder is mounted on the liftingmechanism. A propulsion system serves for raising the holder parallel toa lifting axis. A control station serves for operating the propulsionsystem by a user. The self-balancing chassis has two wheels on a wheelaxis, a drive coupled to the wheels and a steering system for operationof the chassis by an operator. An arrangement of electric batteries isfor supplying the propulsion system and the drive with power. Anemergency power device has a charging state sensor for determining acharging state of the arrangement of electric batteries. A deactivationunit deactivates the control station in response to the charging statefalling below an emergency charge.

The tool guide has its own power supply. The power supply is availablefor operating the lifting mechanism, optionally the portable power tool,but also for the chassis. At a low charging state, it is emphasized tothe user, by deactivation of the control station, and therefore of thelifting mechanism and the portable power tool, that the batteries needto be charged or changed. This prevents the tool guide from falling overdue to empty batteries and as a result of a loss of balance.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows the self-aligning tool guide from the front;

FIG. 2 shows the self-aligning tool guide in the section I-I;

FIG. 3 shows the self-aligning tool guide during working on a ceiling inthe section I-I;

FIG. 4 shows a status diagram;

FIG. 5 shows a diagram for explaining the alignment (equilibrium);

FIG. 6 shows a diagram for explaining the alignment in the forward andback direction;

FIG. 7 shows a diagram for explaining the alignment in the transversedirection;

FIG. 8 shows a diagram for explaining the alignment in the transversedirection; and

FIG. 9 shows a status diagram.

Identical or functionally identical elements are indicated by the samereference numerals in the Figures, unless stated otherwise. In thecontext of this description, vertically denotes a direction parallel tothe gravitational force; horizontally denotes a direction or planeperpendicular to the gravitational force.

FIG. 1 and FIG. 2 show an exemplary self-aligning tool guide 1 forinstallation work in a shell. For example, installation of a ventilationpipe requires a plurality of holes 2 in a ceiling 3 of the shell. Theholes 2 are intended to be located at specified positions 4, for examplein an alignment. Furthermore, the holes 2 are intended to be parallel toone another, for example oriented vertically. The position 4 is shown,for example, in a plan. A foreman can indicate the position 4 by colormarkings on the ceiling 3 of the shell. Other installation work on theceiling 3 may comprise the punching of nails, driving in of screws,sanding, etc.

FIG. 1 and FIG. 2 schematically show an embodiment of the self-aligningtool guide 1. The tool guide 1 has a holder 5 for a portable power tool6, a motorized lifting mechanism 7, a motorized chassis 8, a controller9 and a console 10.

The user can equip the tool guide 1 with a suitable portable power tool6 and a suitable tool 11 according to the application. For drillingholes 2 into a shell, these would be, for example, a hammer drill withan impact mechanism 12 and a drill with a sintered carbide metal tip.The portable power tool 6 can be inserted into the holder 5 on thelifting mechanism 7. A lock 13 secures the portable power tool 6 in theholder 5. The lock 13 can preferably be released without a tool. Inother embodiments, the portable power tool can be permanently connected,for example screwed, to the holder 5.

The hammer drill is just one example of a portable power tool 6. Otherexamples include an electric screwdriver, a nail punch, an anglegrinder, a glue gun, a paint gun, etc. One type of portable power tools6 drives an exchangeable tool 11, for example the drill, a chisel, ascrewdriver bit, a cut-off wheel, etc. for the operation thereof Anothertype of portable power tools 6 directly processes a consumable material,for example nails, screws, paint and adhesive. The portable power tools6 are distinguished by their own drive with which the tool 11 is drivenor the consumable material is driven in or applied. The user does nothave to apply any manual force for using the portable power tool 6. Theportable power tools are referred to as power tools. The power source 14can be driven electrically or by fuel. Examples include an electricmotor, an electric pump, a gas-fed internal combustion engine, apower-driven piston, etc. The power source 14 is coupled to a(triggering) button 15. When the triggering button 15 is pressed, thepower source 14 is activated. The triggering button 15 is preferablyremotely triggerable or lockable.

The portable power tool 6 can be a commercially available portable powertool 6. The portable power tool 6 has a handle 16 and typically ahousing section 17 for the fastening of an additional handle. Theportable power tool 6 can be designed without a handle. The holder 5 canalso be configured for portable power tools which are not hand-held.

The portable power tool 6 have a working axis 18 defined by theirdesign. A tip of the tool 11 or a tip of the consumable material lies onthe working axis 18. The tip is moved along the working axis 18. The tipfirst touches the underlying surface to be worked on, for example theceiling 3.

A status diagram of the tool guide 1 shown in FIG. 4. The user activatesthe tool guide 1 by means of the console 10. The chassis 8 is in a(mobile) mode S1 in which the user can move the tool guide 1 on thefloor 19 through the room. The controller 9 activates a steering system20 of the tool guide 1. The user can specify direction of travel andspeed via the console 10. The user steers the tool guide 1 to one of themarked positions 4. The chassis 8 has a drive 21 which moves the chassis8 by its own power over the floor 19. Direction and speed of movement ofthe chassis 8 are controlled by the steering system 20 of the tool guide1. For this purpose, the steering system 20 processes, inter alia, thespecifications regarding speed and direction of travel that are input bythe console 10.

The user stops the tool guide 1 at the marked position 4. The user setsthe chassis 8 into a (standing) mode 52 via the console 10. Thecontroller 9 blocks the steering system 20 for the user or switches thesteering system 22 to inactive. The steering system 20 ignores thespecifications regarding speed and direction of travel that are input bythe console 10. The tool guide 1 remains in the position 4 currentlyadopted. The steering system 20 can detect the current position 4. Ifthe chassis 8 leaves the current position 4 or is moved out of thelatter, the steering system 20 automatically generates control signalsin order to move the chassis 8 back into the detected position 4.

The user can activate a (lifting) mode S3 via the console 10 in order toraise the portable power tool 6 with the lifting mechanism 7, Thecontroller 9 forces the standing mode S2 for the chassis 8 before thelifting mode can be activated. The controller 9 can delay the activationof the lifting mode until the chassis 8 is stationary, A control station22 for the user is enabled or activated in the lifting mode. The usercan specify the direction of movement 23, i.e., up or down, and liftingspeed and position of the lifting mechanism 7 via. the console 10. Theholder 5 is correspondingly moved by the lifting mechanism 7. Thecontrol station 22 activates a propulsion system 24 of the liftingmechanism 7 taking into consideration the vertical direction of movementand lifting speed specified via the console 10. The lifting mechanism 7lifts or lowers the holder 5 and optionally the portable power tool 6,which is inserted into the latter, along a fixed lifting axis 25. Thelifting mechanism 7 is limited to a uniaxial, translatory movement onthe lifting axis 25.

The working axis 18 of the portable power tools 6 is parallel to thelifting axis 25. In one refinement, the design of the holder 5 forcesthe parallel alignment. The portable power tool 6 can be inserted in theholder 5 in only one defined way, for example, because of a shape of theholder 5 matching a housing of the portable power tool 6. In onerefinement, the holder 5 is pivotable about a (pivot) axis inclined withrespect to the lifting axis 25, in order to align the working axis 18 onthe lifting axis 25.

The lifting axis 25 and therefore the working axis 18 are aligneddynamically in relation to the ceiling 3 by the chassis 8. The chassis 8aligns the lifting axis 25 vertically, i.e., parallel to thegravitational force.

The portable power tool 6 can preferably be switched on via the controlstation 22. The tool 11 can work on the ceiling 3, for example can drilla hole 2. The controller 9 can have a (working) mode S4 whichautomatically controls the propulsion system 24 of the lifting mechanism7 during the working on the ceiling 3. The working mode can be activatedmanually, for example, at the console 10. In the working mode, thecontrol station 22 adapts the lifting speed of the lifting mechanism 7to the working progress of the tool 11. The lifting mechanism 7 and thetool 11 can be protected against excessive loadings. A working goal, forexample a drill hole depth, can be specified to the control station 22.After the working goal has been reached, the control station 22 canautomatically stop the propulsion system 24. In addition, the controlstation 22 can automatically lower the lifting mechanism 7 to an extentsuch that the tool 11 is disengaged from the ceiling 3.

The user can now deflect the tool guide 1 to a next marked position 4.The user switches the tool guide 1 over into the mobile mode S1. Thecontrol station 22 is blocked for the user. The portable power tool 6 isforcibly switched off. The tool guide 1 can check before stoppingwhether the tool 11 is still in engagement with the ceiling 3. Forexample, the steering system 20 moves the chassis 8 by a small specifieddistance in one direction 26 and checks whether a counteracting torqueacts on the chassis 8. The steering system 20 moves the chassis 8 backto the previous position 4, changes into the standing mode and causesthe control station 22 to lower the lifting mechanism 7.

The chassis 8 has two wheels 27 coupled to the drive 21. The two wheels27 are arranged offset with respect to each other on a transverse axisor wheel axis 28. The wheel axis 28 runs through the center of the twowheels 27. The wheels 27 can be parallel to each other; or the wheels 27are inclined by a few degrees with respect to one another because of awheel camber and/or a toe angle. The two wheels 27 substantially rotateabout the wheel axis 28. Each of the wheels 27 is coupled to the drive21. The drive 21 can comprise, for example, two electric motors 29. Thewheels 27 each sit directly on a rotor 30 of one of the electric motors29. Alternatively, the wheels 27 can be coupled to a central electricmotor 29 via clutches and transmissions. The drive 21 exerts a torqueacting about the wheel axis 28 on the wheels 27. The rotatingly drivenwheels 27 move the chassis 8 over the floor 19. The chassis 8 movesstraight ahead when the two wheels 27 rotate at the same speed. Thewheels 27 can be driven individually by the drive 21. A different torqueand different rotational speed of the wheels 27 enable the chassis totravel around a corner. The wheels 27 can preferably be driven in anopposed manner in order to rotate the chassis 8 about its vertical axis.The drive 21 receives control signals for rotational speed and torque ofthe two wheels 27 from the steering system 20. The steering system 20generates the control signals in response to specified steeringmovements, for example steering movements specified by the user. Thedrive 21 can have a sensor arrangement for detecting the output torqueand rotational speed of the wheels 27. The measurement data detected canbe transferred to the steering system 20 in order to adjust thedeviations of the steering movement.

The chassis 8 and the tool guide 1 now stand only with the two wheels 27on the floor 19. The two contact points P1, P2 lie on a line parallel tothe wheel axis 28. A third contact point with the floor 19 outside theline is missing for a statically stable standing position. The toolguide 1 would fall over without countermeasures. The steering system 20achieves dynamic equilibrium by permanently balancing the center ofgravity G of the lifting mechanism 7. On the basis of detection of thecenter of gravity G, the steering system 20 controls the drive 21 intogenerating a torque counteracting falling.

The lifting mechanism 7 is mounted on the chassis 8. The liftingmechanism 7 is immovable in relation to the chassis 8; in particular,the lifting mechanism 7 is immovable in relation to the drive 21 and thewheel axis 28. The lifting mechanism 7 is preferably connected rigidlyto a stator 31 of the drive 21. The drive 21 generates a torque and areacting torque, of the same size and opposite direction of rotation, inprinciple in pairs. The torque acts on the wheels 27 by the rotor 30 ofthe drive 21. The reacting torque acts on the lifting mechanism 7 viathe stator 31 of the drive 21.

The weight of the tool guide 1 is composed of the weight of the chassis8 and the weight of the lifting mechanism 7. The weight of the portablepower tool 6 is simply added to the weight of the lifting mechanism 7.The center of gravity of the chassis 8 lies approximately on the wheelaxis 28. The wheels 27, the drive 21 and batteries 32 are arrangedsymmetrically about the wheel axis 28. The center of gravity G of thelifting mechanism 7 lies above the wheel axis 28. The tool guide 1stands, if only meta-stably, when the center of gravity G is verticallyabove the wheel axis 28 (equilibrium, FIG. 5). A lateral deflection x isequal to zero. The tool guide 1 falls if the center of gravity G isoffset in the lateral direction 33 in relation to the wheel axis 28,i.e., the lateral deflection x is unequal to zero (FIG. 6),

The steering system 20 has a (center of gravity) sensor 34 for detectingthe lateral deflection x of the center of gravity G of the liftingmechanism 7. The lateral deflection x of the center of gravity G outsideequilibrium results in different measurable variables. The liftingmechanism 7 is inclined in relation to gravitational force; the centerof gravity sensor 34 can correspondingly comprise an inclination sensor.The falling movement leads to a characteristic acceleration; the centerof gravity sensor 34 can comprise a gyro sensor, an acceleration sensor,a rate of rotation sensor, etc. for determining speed, acceleration,rate of rotation and/or rotational movement about the wheel axis 28. Theinclined lifting mechanism 7 exerts a torque on the drive 21; the centerof gravity sensor 34 can comprise a torque sensor, a force sensor, etc.,for detecting a torque, a non-vertical force, etc. The sensors candetect the above-mentioned variables on the basis of mechanical,optical, magnetic or electrical effects.

The steering system 20 comprises a control sequence which, on the basisof the deflection x, determines a torque for erecting the liftingmechanism 7. For example, the steering system 20 can specify a torquewhich is proportional to the deflection x. The steering system 20transmits the torque in the form of a control signal to the drive 21which generates the torque. The control sequence can comprise a controlloop which adjusts the deflection x to zero. Control parameters, such asthe boost factor and the integral component can preferably be adapted,for example in order to adapt the control sequence to the differentweight of the portable power tools 6.

The lifting mechanism 7 is aligned vertically by the motor power of thedrive 21. The lifting mechanism 7 can be triggered by disturbances tothe equilibrium and can oscillate repeatedly about the verticalalignment in reaction to the control sequence. Following the swingingaction, the user cannot identify any further movement. The torque actingon the lifting mechanism 7 is opposed by the torque acting on the wheels27. The wheels 27 rotate correspondingly, as a result of which thechassis 8 travels in the direction 26 of the deflection x (FIG. 6). Thechassis 8 oscillates analogously to the lifting mechanism 7 about acentral position. Friction and grip of the wheels 27 on the floor 19damp the oscillation.

The statically unstable standing position of the chassis 8 and thebalancing are used in order to vertically align the lifting axis 25. Atdynamic equilibrium, the center of gravity G lies vertically above thewheel axis 28. The lifting mechanism 7 is arranged with respect to thewheel axis 28 in such a manner that a line which runs through the centerof gravity G and the wheel axis 28 is parallel to the lifting axis 25.The exemplary lifting mechanism 7 has a compensating weight 35 on theholder 5 in order to adapt the position 4 of the center of gravity G fordifferent portable power tools 6. The compensating weight 35 is lockableat different distances from the lifting axis 25. Instead of acompensating weight 35, the regulation can adjust the deflection x to aspecified offset. The offset preferably takes into consideration theadjustment position of the lifting mechanism 7. Irrespective of theheight of the lifting mechanism 7, the dynamic balancing aligns thelifting axis 25 vertically.

The dynamic balancing ensures a vertical alignment when the wheel axis28 lies horizontally. The deflection x lies in a plane perpendicular tothe wheel axis 28. In the event of an uneven floor 19 or an inclinedfloor 19, the wheel axis 28 can be inclined with respect to thehorizontal plane (FIG. 7). The inclination 36 of the wheel axis 28 istransferred into just such an inclination of the lifting mechanism 7.The inclination 36 lies in a plane which is spanned by the wheel axis 28and the vertical axis. The inclination of the wheel axis 28 cannot bedirectly compensated for by the dynamic balancing.

For the processing of the ceiling 3, the inclination 36 is preferablyalso compensated for. The exemplary controller 9 makes provision for theinclination 36 to be triggered when the lifting mode S3 is activated.The user or an external controller 9 will activate the lifting mechanismS3 when the tool guide 1 is positioned at the specified position 4. Thecompensation can also be triggered in a different mode. For example, aspecific mode can be provided for the compensation, which mode is, forexample, triggered automatically when the position 4 is reached or uponenquiry by the user.

The alignment therefore first of all makes provision to adjust the twowheels 27 to the same height. The tool guide 1 rotates about a verticalaxis which, for example, coincides with the working axis 18. Thevertical axis denotes an axis which is perpendicular to the wheel axis28 and runs substantially along the vertical axis. The tool guide 1 ispreferably positioned in such a manner that the vertical axis runsthrough the specified position 4. The steering system 20 rotates the twowheels 27 at the same rotational speed in an opposite direction 26. Thetool guide 1 and the tool 11 therefore remain at the same position 4.The compact design with the small standing space typically permits thisrotation even in confined spaces. The rotation takes place until theinclination 36 of the wheel axis 28 is equal to zero. Since the toolguide 1 touches the floor 19 with only two wheels 27, at each position 4there is at least one setting in which all of the wheels 27 are at thesame height. An inclination sensor 37 can detect the inclination of thewheel axis 28 in relation to the horizontal plane. The inclinationsensor 37 can be implemented, for example, by the center of gravitysensor 34 or analogously. The steering system 20 balances the liftingmechanism 7 in the lateral direction 26 perpendicular to the wheel axis28. The torque on the two wheels 27 acts in the same direction 26 and istypically the same size.

The steering system 20 comprises, for example, a console 10 with inputelements for travel direction and speed. An exemplary console 10 isbased on a biaxial joystick. Other consoles can have, for example, asteering wheel for the travel direction and a slide for the speed. Theconsole 10 is preferably removable from the tool guide 1. Controlsignals generated by the console 10 are transmitted to the drive 21 on aradio basis, optically or on a line basis. The steering system 20 candetect a push or pull force exerted on the chassis 8 by the user. Underthe action of the force, the chassis 8 tips in the direction 26 of thepush or pull force. The steering system 20 detects the deflection x ofthe chassis 8. A speed of the chassis 8 can be, for example,proportional to the deflection x.

The exemplary lifting mechanism 7 is based on a linear rail guide 38.Two parallel profile rails 39 are fastened on the chassis 8. The twoprofile rails 39 define the lifting axis 25. An impeller 40 engages inthe two profile rails 39. The impeller 40 is displaceable on the profilerails 39 along the lifting axis 25. An electric motor 41 and a spindle42 form the propulsion system 24 for the impeller 40. The spindle 42 ismounted rotatably between the two profile rails 39. The impeller 40 hasa thread 43 engaging in the spindle 42. The electric motor 41 rotatesthe spindle 42 about its longitudinal axis; the thread 43 converts therotational movement into a movement along the lifting axis 25. Thelifting mechanism 7 illustrated is an example of a telescopic liftingmechanism. Instead of or in addition to profile rails and impeller 40,tubes inserted one into another can be used in the same manner. Anotherpropulsion system 24 is based on a rack and a pinion driven by themotor. Alternatively, a hydraulic or pneumatic press can also raise thelifting mechanism 7.

The exemplary lifting mechanism 7 can comprise a manually telescopicplatform 44 in addition to the power-driven lifting mechanism 7. Theplatform 44 can be constructed comparatively compactly. The power-drivensection can be brought to a basic height by means of the platform. Theplatform 44 can be a single- or multi-stage platform. The exemplaryplatform 44 is based on a rail guide.

An exemplary holder 5 has a trough-shaped shell 45 with a tensioningstrap 46. The handle 16 can be positioned in the shell 45 and secured inthe shell 45 by the tensioning strap 46. The housing of the portablepower tool 6 can be lashed to the holder 5 with a second tensioningstrap 47. The holder 5 is preferably displaceable perpendicularly to thelifting axis 25. The holder 5 can be displaceable, for example, on adovetail guide 48. The user can position the working axis 18 verticallywith respect to the wheel axis 28. The holder 5 can comprise an angularsetting which permits a precise alignment of the working axis 18parallel to the lifting axis 25. The angular setting comprises, forexample, a joint and an adjustment screw.

The lifting mechanism 7 is preferably equipped with a sensor 49 fordetermining the contact pressure on the ceiling 3. For example, theholder 5 is supported in the vertical direction 26 on a spring 50. Thecontact pressure compresses the spring 50. A displacement sensor 51, forexample a sliding potentiometer, determines the displacement distance bywhich the spring 50 is compressed. With the spring constant being known,the sensor 49 determines the contact pressure. Other sensors fordetermining the contact pressure can be based on piezo electric effects,strain gages, etc. Other refinements determine the contact pressureindirectly. For example, the sensor 49 includes an evaluation of thepower consumption, for example current consumption, of the propulsionsystem 24. A correlation of the power consumption and a measure for thecontact pressure are stored in a table in the sensor. The initialpressing of the tool 11 against the ceiling 3 is detected by the sensor49 as a jump in the contact pressure. The sensor 49 indicates to thecontrol station 22 in a control signal that the tool 11 is lying againstthe ceiling 3. The control station 22 can correspondingly stop a manualcontrol of the lifting mechanism 7 and change into the processing mode.In a preferred variant, a desired value for the contact pressure isstored in the control station 22. The desired value can be input orselected beforehand by the user. The desired value is dependent on thetool 11, for example a diameter of the drill. The propulsion system 24is adjusted to a constant contact pressure. The sensor 49 as part of aprotective circuit 52 can provide a measurement value for the contactpressure. The protective circuit 52 stops a raising of the liftingmechanism 7 if the measurement value exceeds a threshold value.

In one refinement, the tool guide 1 can suspend the dynamic balancingwhen the tool 11 touches the ceiling 3. With the contact point againstthe ceiling 3, the tool guide 1 can stand statically. The tool guide 1can change into a stop mode S5 in which the wheels are locked by a brake53 (FIG. 9). The balancing and the associated slight oscillatingmovement stop.

The tool guide 1 has a (contact) sensor 54 which detects a contact withthe ceiling 3. The tool 11, consumable material or the portable powertool 6 typically touches the ceiling 3. The holder 5 indirectly touchesthe ceiling 3. The contact sensor 54 outputs a (contact) signal to thecontroller 9 in which it is encoded whether the tool 11 is in contactwith the ceiling 3. The contact sensor 54 can evaluate, for example, thecontact pressure of the lifting mechanism 7 or a measure for the contactpressure. The contact sensor 54 indicates a contact if the contactpressure exceeds a threshold value or a rate of change of the contactpressure exceeds a threshold value. The threshold value is preferablydimensioned in such a manner that the associated contact pressure issufficient to hold the tool guide 1 in a static stable standing positionvia the two wheels 27 and the contact point on the ceiling 3. Thecontact sensor 54 can be realized, for example, by the sensor 49 or ananalogous sensor 49,

When the contact signal is present, the controller 9 preferably suspendsthe balancing of the chassis 8, The controller 9 can delay thesuspension until the contact signal is present for a minimum duration.When the contact signal is present, the steering system 20 checkswhether the lifting mechanism 7 is aligned vertically. If the steeringsystem 20 detects a deviation from the vertical alignment, the controlstation 22 lowers the lifting mechanism 7 in response thereto, Thelowering can take place by a predetermined stroke, for example 1 cm.Alternatively, the stroke can be determined on the basis of thedeviation from the vertical alignment and/or the height of the liftingmechanism 7. For example, the stroke is proportional to the product ofthe deviation in an angular dimension and the current height of thelifting mechanism 7. The tool 11 is detached from the ceiling 3.Consequently, the contact sensor 54 indicates no contact any longer withthe ceiling 3. The controller 9 immediately reactivates the balancing bymeans of the steering system 20. The steering system 20 aligns thelifting mechanism 7 vertically. The controller 9 can repeat the methoddescribed in the paragraph iteratively until the lifting mechanism 7 isaligned vertically. The controller 9 subsequently raises the liftingmechanism 7 at least preferably to an extent until a contact signal ispresent. The tool guide 1 is now aligned vertically.

The chassis 8 preferably has a brake 53. The brake 53 is preferablyactivated as soon as the tool guide 1 is aligned vertically and thecontact signal is present. The brake 53 is a parking brake whichpermanently locks the wheels 27 of the chassis 8. The brake 53 isrealized, for example, as an engine brake. The brake 53 generates anelectromagnetic force which opposes a movement of the wheels 27. Thebrake 53 can be passive. The electric motors 29 can generate an electriccurrent in the stator 31 in accordance with the principle of a generatorif the rotor 30 of the electric motors is rotated. Examples of theelectric motors 29 with the principle of a generator are direct currentmotors, universal motors, etc. The current generated by generator isshort-circuited by the brake 53 via a load resistance. The reactivemagnetic field opposes the rotational movement of the rotor 30.Alternatively, a rotational speed sensor or movement sensor can detect amovement. The steering system 20 determines a corresponding controlsignal in order to steer the propulsion system 24 counter to themovement. The brake 53 can also be realized by a mechanical brake in thechassis 8, for example a disk brake or drum brake. The mechanical brake53 can assist the motor brake.

The tool guide 1 has one or more batteries 32, 55. The batteries 55supply the steering system 20, the control station 22, the electricmotors 29 of the drive 21, the electric motor 41 of the propulsionsystem and optionally the portable power tool 6 with current. Thebatteries 55 can comprise a stationary battery 32 and one or moreremovable batteries 55. The stationary battery 32 is preferablyintegrated in the chassis 8. The tool guide 1 has correspondingelectromechanical interfaces for the removable batteries 55. Theinterfaces correspond, for example, to the interfaces of portable powertools 6. The user can exchange discharged batteries 55 for chargedbatteries 55 and can charge the discharged batteries 55 in a separatecharging station. The power consumption of the portable power tools 6 istypically significantly above 200 Watts. A correspondingly largecapacity has to be provided by the batteries. The stationary battery 32is electrically connected to the other batteries 55. A chargingregulator 56 charges the stationary battery 32 with the other batteries55. The charging regulator 56 preferably keeps a charging state of thestationery battery 32 above an emergency value. The user can remove theother batteries 55 without risk. The stationary battery 32 has asufficient charging state because of the emergency value to balance thechassis 8 for at least 10 minutes, preferably at least half an hour.

The tool guide 1 enters into an (emergency) mode S9 if the chargingstate of the batteries 32, 55 drops below the emergency value. Theemergency mode ensures a secure standing position of the tool guide 1.The chassis 8 and the steering system 20 are supplied with current. Theuser can move the tool guide 1 to a charging station or to anotherdesired location. Other consumers are preferably deactivated; inparticular the lifting mechanism 7 and the portable power tools 6 aredeactivated. For example, the control station 22 can be blocked for aninput from the user. The user can no longer raise the control station22. The portable power tool 6 can be separated from the batteries bymeans of a switch. The lifting mechanism 7 can be brought automaticallyto the lowest height in the emergency mode. In the emergency mode, thetool guide 1 can indicate the emergency mode optically or acoustically.

1.-5. (canceled)
 6. A self-aligning tool guide, comprising: a holder forsecuring a portable power tool for working on a ceiling; a liftingmechanism on which the holder is mounted and which has a propulsionsystem for raising the holder parallel to a lifting axis; aself-balancing chassis which has two wheels on a wheel axis; a drivecoupled to the two wheels; a contact sensor for detecting an indirectcontact of the holder with the ceiling; and a brake for theself-balancing chassis.
 7. A control method for the self-aligning toolguide as claimed in claim 6, comprising the steps of: detecting alateral deflection of a center of gravity of the lifting mechanism inrelation to the wheel axis; balancing the self-balancing chassis byactivation of the drive, wherein the drive outputs a torque thatcounteracts the lateral deflection; raising the holder to a ceiling viathe lifting mechanism; and suspending the balancing upon detection of anindirect contact of the holder with the ceiling.
 8. The control methodas claimed in claim 7 further comprising the step of activating thebrake upon detection of the indirect contact.
 9. The control method asclaimed in claim 7 further comprising the step of reactivating thebalancing when an end of the indirect contact is detected.
 10. Thecontrol method as claimed in claim 7, wherein, when the indirect contactis detected, an alignment of the lifting mechanism in relation to avertical alignment is detected and, if the alignment deviates from thevertical alignment, the lifting mechanism is lowered.